Robust Trajectory Tracking Control of an Autonomous Tractor-Trailer Considering Model Parameter Uncertainties and Disturbances

This paper discusses the robust trajectory tracking control of an autonomous tractor-trailer in agricultural applications. Firstly, considering model parameter uncertainties and various disturbances, kinematic dynamic models system are established. Moreover, coordinate transformation is adopted to convert error into a new unconstrained state space model. On this basis, prescribed performance (PPC) technique designed ensure convergence speed final accuracy system. Then, designs double closed-loop structure. The posture level adopts predictive (MPC) method, sliding mode (SMC) method. At same time, it worth mentioning that nonlinear disturbance observer (NDO) estimate all kinds disturbances compensate for improve system’s robustness. Finally, proposed strategy validated through comparative simulations, demonstrating its effectiveness achieving